BodyMechParams;
ControlParams;
prostheticParams;

LGainGAS          = Gains( 1);
LGainGLU          = Gains( 2);
LGainHAM          = Gains( 3);
LGainKneeOverExt  = Gains( 4);
LGainSOL          = Gains( 5);
LGainSOLTA        = Gains( 6);
LGainTA           = Gains( 7);
LGainVAS          = Gains( 8);
LKglu             = Gains( 9);
LPosGainGG        = Gains(10);
LSpeedGainGG      = Gains(11);
LhipDGain         = Gains(12);
LhipPGain         = Gains(13);
LkneeExtendGain   = Gains(14);
LkneeFlexGain     = Gains(15);
LkneeHoldGain1    = Gains(16);
LkneeHoldGain2    = Gains(17);
LkneeStopGain     = Gains(18);
LlegAngleFilter   = Gains(19);
RGainGLU          = Gains(20);
RGainHAM          = Gains(21);
RKglu             = Gains(22);
RPosGainGG        = Gains(23);
RSpeedGainGG      = Gains(24);
RhipDGain         = Gains(25);
RhipPGain         = Gains(26);
RlegAngleFilter   = Gains(27);
anklePgain        = Gains(28);
ankleDgain        = Gains(29);
ankleFilterPID    = Gains(30);
ankleFilterSEA    = Gains(31);
kneePgain         = Gains(32);
kneeDgain         = Gains(33);
kneeFilterPID     = Gains(34);
kneeFilterSEA     = Gains(35);
bKneeSwing1       = Gains(36);
bKneeSwing2       = Gains(37);
k1AnkleStance1    = Gains(38);
k1AnkleStance2    = Gains(39);
k1AnkleSwing1     = Gains(40);
k1AnkleSwing2     = Gains(41);
k1KneeStance1     = Gains(42);
k1KneeStance2     = Gains(43);
k1KneeSwing1      = Gains(44);
k1KneeSwing2      = Gains(45);
k2AnkleStance1    = Gains(46);
k2KneeStance2     = Gains(47);
ankleAngleThr     = Gains(48);
phiAnkleStance1   = Gains(49);
phiAnkleStance12  = Gains(50);
phiAnkleStance2   = Gains(51);
phiKneeStance1    = Gains(52);
phiKneeStance2    = Gains(53);
phiKneeSwing1     = Gains(54);
phiKneeSwing2     = Gains(55);
legLengthClr      = Gains(56);
simbiconGainD     = Gains(57);
simbiconGainV     = Gains(58);
simbiconLegAngle0 = Gains(59);

%[groundX, groundZ, groundTheta] = generateGround('const',0.05,1);
[groundX, groundZ, groundTheta] = generateGround('flat');
